The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper, the problem of tip position tracking control of a rigid-flexible manipulator is investigated. The backstepping design scheme is developed for this tracking control problem. The proposed backstepping controller stabilizes the flexible robotic manipulator while driving the trajectory tracking error and the tip-deflection asymptotically to zero. As a case study, the needle insertion problem...
In this paper, a composite tracking controller for single-link flexible manipulators is proposed. An Extended Kalman Filter (EKF) is utilized to observe the environmental forces (as disturbances) and a Lyapunov redesign robust control to alleviate the destructive effects of the observation errors in noisy situations. The observed forces can also be used in many applications such as tele-surgical robotics...
This paper presents a composite controller for tip position tracking of flexible link manipulators. In this regard, an inner/outer control structure is proposed. Opposed to previous conducted researches in this area, the desired reference trajectory is robustly modified (online) to minimize the tracking error of the tip utilizing the outer controller. The outer trajectory modifier is a μ synthesis...
This paper proposes a composite control approach based on the robust feedback linearization and Extended Kalman Filter (EKF) to improve the tracking performance for the flexible link manipulators in the presence of torque disturbances. In this regard, first an EKF is employed to estimate the disturbances, utilizing the uncertain nonlinear model of flexible link system in addition to noisy measurement...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.